Waterborne docking assembly

ABSTRACT

The present invention is broadly directed to a waterborne docking assembly 10 comprising:a docking body 12 adapted to be deployed from a recovery vessel 13;docking means 14 associated with the docking body 12 and adapted for docking of an unmanned underwater vehicle 15;propulsion means 16 associated with the docking body 12, said propulsion means 16 configured to control positioning of the docking body 12 relative to the unmanned underwater vehicle 15 for guided docking of said vehicle 15 with the docking assembly 10.

TECHNICAL FIELD

The present invention is broadly directed to a waterborne docking assembly. The invention relates particularly to a waterborne docking assembly to be deployed from a recovery vessel for guided docking and retrieval of an unmanned underwater vehicle (UUV).

SUMMARY OF INVENTION

According to the present invention there is provided a waterborne docking assembly comprising:

-   -   a docking body adapted to be deployed from a recovery vessel;     -   docking means associated with the docking body and adapted for         docking of an unmanned underwater vehicle;     -   propulsion means associated with the docking body, said         propulsion means configured to control positioning of the         docking body relative to the unmanned underwater vehicle for         guided docking of said vehicle with the docking assembly.

Preferably the docking assembly also comprises a cable connected at opposing ends to the docking body and the recovery vessel, respectively. More preferably the cable includes or is associated with a towline arranged for towing of the docking body from the recovery vessel, said towline configured to (1) combine with the propulsion means to control positioning of the docking body, and (b) assist with retrieval of the docking body and the docked unmanned underwater vehicle to the recovery vessel.

Preferably the cable includes a communications cable operatively coupled to one or more sensors associated with the docking body for communicating sensor data from said sensor to the recovery vessel. More preferably the cable also includes an actuator cable operatively coupled to actuators of or associated with the propulsion means for remote control of the position of the docking body for guided docking of the unmanned underwater vehicle from the recovery vessel. Even more preferably the cable includes a docking cable operatively coupled to the docking means for remote docking of the unmanned underwater vehicle with the docking assembly. Still more preferably the cable includes a power cable operatively coupled to the docking means and/or the propulsion means for powering them.

Preferably the docking means in a first embodiment includes suction means associated with a docking cavity formed within the docking body. More preferably the docking cavity is shaped substantially complementary to at least part of an external surface of the unmanned underwater vehicle. Still more preferably the suction means includes a suction impeller arranged to reduce pressure and/or create water flow within the docking cavity to promote docking of the unmanned underwater vehicle with the docking assembly. Even still more preferably the suction impeller is operatively coupled to the docking cable for remote actuation of the suction impeller from the recovery vessel.

Preferably the docking means in a second embodiment includes a plurality of rigid clasps connected to an extending from the docking body for releasable clasping of the unmanned underwater vehicle for docking with the docking assembly. In this second embodiment the rigid clasps are each articulated and slidably connected to the docking body, said clasps being movable from (a) an open configuration permitting movement of the docking body into close proximity with the unmanned underwater vehicle, and (b) a closed configuration for clasped retention of said vehicle for docking with the docking assembly. In this second embodiment said clasps are operatively coupled to the docking cable for remote actuation of said clasps from the recovery vessel.

Preferably the docking means in a third embodiment includes one or more tentacles operatively coupled to the docking body for releasable gripping of the unmanned underwater vehicle in proximity with the docking body for docking with the docking assembly. In this third embodiment the docking means also includes a plurality of resiliently flexible arms connected to and extending from the docking body, said arms arranged for retention of the unmanned underwater vehicle for docking with the docking assembly. In this third embodiment the tentacles and resilient arms are operatively coupled to the docking cable for remote control of said tentacles/arms from the recovery vessel.

Preferably the propulsion means includes one or more thrusters associated with respective of one or more fins mounted to the docking body. More preferably the fins are each pivotally mounted to the docking body whereby tilting of selective of the fins is effective in relative positioning of the docking body to assist with guided docking of the unmanned underwater vehicle with the docking assembly. Even more preferably the thrusters and fins are operatively coupled to the actuators cable for remote actuation of the thrusters/fins from the recovery vessel.

Preferably the docking assembly further comprises a processor located at the recovery vessel and configured to communicate with said one or more sensors via the communications cable to facilitate guided docking of the unmanned underwater vehicle with the docking assembly. More preferably said docking assembly also comprises an actuator assembly located at the recovery vessel and operatively coupled to the propulsion means via the actuators cable, the processor configured to communicate with the actuator assembly to remotely control actuation of the propulsion means dependent on the sensor data received from the docking body for guided docking of the unmanned underwater vehicle. Even more preferably the processor is also arranged to communicate with the actuator assembly to remotely control actuation of the docking means via the docking cable for docking of the unmanned underwater vehicle with the docking assembly.

Preferably said one or more sensors associated with the docking body include but are not limited to optical, sonar, pressure, depth, piezoelectric, and Global Position System (GPS) sensors. More preferably the optical sensors are at least in part mounted at an aft section of the docking body and configured to capture vision of the unmanned underwater vehicle as it approaches the docking body to assist with guided docking of said vehicle.

BRIEF DESCRIPTION OF DRAWINGS

In order to achieve a better understanding of the nature of the present invention a preferred embodiment of a waterborne docking assembly will now be described, by way of example only, with reference to the accompanying drawings in which:

FIGS. 1 and 2 are alternative perspective views of a first embodiment of a waterborne docking assembly of the present invention;

FIG. 3 is an underwater perspective view of the docking assembly of the embodiment of FIGS. 1 and 2 being towed by a recovery vessel;

FIGS. 4 to 7 are side views of the docking assembly of the embodiment of the preceding figures under the influence of propulsion means associated with a docking body of the docking assembly;

FIG. 8 is a schematic side view of the docking assembly of the embodiment depicting controlled positioning of the docking body relative to an unmanned underwater vehicle (UUV) for guided docking with the docking assembly;

FIG. 9 is a schematic side view of the recovery vessel and docking assembly of FIG. 8 depicting the UUV docked with the docking assembly;

FIG. 10 is a schematic side view of the docked UUV and associated docking assembly of the embodiment illustrated in FIGS. 8 and 9 having been retrieved by the recovery vessel via an associated cable;

FIGS. 11 and 12 are alternative perspective views of a second embodiment of a waterborne docking assembly of the invention;

FIG. 13 is an underwater perspective view of the docking assembly of the second embodiment of FIGS. 11 and 12 being towed by a recovery vessel;

FIG. 14 is a schematic side view of the docking assembly of the second embodiment of FIGS. 11 to 13 depicting its propulsion means configured to control its relative positioning, and docking means shown in their open configuration awaiting arrival of a UUV for docking with the docking assembly;

FIGS. 15 and 16 are schematic side views of the docking assembly of the second embodiment of FIGS. 11 to 14 with the docking means in its closed configuration for retention of the UUV which is docked with the docking assembly;

FIG. 17 is a schematic side view of the docked UUV and its associated docking assembly of the second embodiment having been retrieved by the recovery vessel;

FIGS. 18 and 19 are alternative perspective views of a third embodiment of a waterborne docking assembly of the invention;

FIG. 20 is an underwater perspective view of the docking assembly of the third embodiment of FIGS. 18 and 19 being towed by a recovery vessel;

FIG. 21 is a side view of the docking assembly of the third embodiment of FIGS. 18 to 20 showing propulsion means actuated for controlled positioning of its docking body;

FIG. 22 is a schematic side view of the docking assembly of the third embodiment having gripped an approaching UUV in proximity to the docking body;

FIG. 23 is a schematic side view of the UUV and docking assembly of the third embodiment of FIG. 22 depicting the UUV docked with the docking assembly; and

FIG. 24 is a schematic side view of the docked UUV and associated docking assembly of the third embodiment of FIG. 23 having been retrieved by the recovery vessel.

DETAILED DESCRIPTION

As seen in FIGS. 1 to 10 , there is a waterborne and towable docking assembly 10 of a first embodiment of the present invention. The docking assembly 10 of this embodiment broadly comprises:

-   -   1. a docking body 12 adapted to be deployed from a recovery         vessel 13;     -   2. docking means generally designated at 14 associated with the         docking body 12 and adapted for docking of an unmanned         underwater vehicle (UUV) 15;     -   3. propulsion means generally designated at 16 associated with         the docking body 12, the propulsion means 16 configured to         control positioning of the docking body 12 relatively to the UUV         15 for guided docking of the UUV 15 with the docking assembly         10.

In this first embodiment the docking assembly 10 also comprises a cable 18 connected at opposing ends to the docking body 12 and the surface vessel 13 respectively. The cable 18 includes or is associated with a high-tensile towline arranged for towing of the docking body 12 from the recovery vessel which is typically a surface or sub-surface vessel 13. The towline depicted generally at 18 is configured to (a) combine with the propulsion means 16 to control positioning of the docking body 12 and (b) assist with retrieval of the docking body 12 and the docked UUV 15 to the surface vessel 13.

Importantly the docking assembly 10 includes one or more sensors depicted generally at 20 a and 20 b associated with the docking body 12 for communicating sensor data to the surface vessel 13. In this example the sensor 20 a is one of four optical sensors mounted at an aft section of the docking body 12 and configured to capture vision of the UUV 15 as it approaches the docking body 12 to assist with guided and autonomous docking of the UUV 15. The other sensor 20 b is in this example mounted at or proximal a bow section of the docking body 12 and may take the form of an optical, sonar, pressure, depth, piezoelectric, and/or GPS sensor. This other sensor 20 b depending on its functionality may also assist in autonomous docking of the UUV 15 with the docking assembly 10.

In this first embodiment the docking means 14 is in the form of suction means associated with a docking cavity 22 formed within the docking body 12. The docking cavity 22 is shaped substantially complementary to at least part of the UUV or in this instance its external cylindrical surface. The suction means 14 of this embodiment includes a suction impeller 24 arranged to reduce pressure and/or create water flow within the docking cavity 22 to promote docking of the UUV 15 with the docking assembly 10. The docking means 14 may also include a relatively soft ring or cuff 25 located at an entrance to the docking cavity 22. The ring or cuff 25 may be inflated by water or fluid to squeeze onto the UUV 15 once it is docked. The ring or cuff 25 is thus effective in retaining the UUV 15 whilst the docking assembly 10 is towed or retrieved to the surface vessel 13.

In this first embodiment the propulsion means 16 includes four (4) thrusters 26 a to 26 d associated with respective of four (4) fins 28 a to 28 d mounted to the docking body 12. The fins such as 28 a are each pivotally mounted to the docking body 12 whereby tilting of selective of the fins such as 28 b and 28 d is effective in relative positioning of the towable body 12 to assist with guided docking of the UUV 15 with the docking assembly 10. FIGS. 4 to 7 depict tilting of the selective fins 28 b and 28 d which in cooperation with their associated thrusters 26 b and 26 d provide movement of the docking assembly 10 in a generally downward or upward direction. FIGS. 6 and 7 combine this tilting of fins 28 b and 28 d with other select fins 28 a and 28 c which in cooperation with the associated thrusters 26 a and 26 c direct the docking assembly 10 to port or starboard for movement in three (3) dimensions/axes.

The docking assembly 10 of this first embodiment further comprises a processor generally designated at 30 located at the surface vessel 13 and configured to communicate with the one or more sensors such as 20 a and 20 b via a communications cable (not shown) associated with the cable 18. The docking assembly 10 also comprises an actuator assembly (not shown) located at the surface vessel 13 and operatively coupled to the propulsion means 16 via an actuation cable (not shown) associated with the towline 18. The processor 30 is configured to communicate with the actuator assembly to remotely control actuation of the propulsion means 16 for guided docking of the UUV 15. In this example, actuation of the propulsion means 16 via the actuator assembly is dependent on the sensor data received from one or more of the sensors such as 20 a and 20 b located at the docking body 12. The processor 30 may operate in conjunction with the actuator assembly for guided docking of the UUV 15 where, for example:

-   -   1. the processor 30 compares positional data received from an         appropriate sensor such as 20 b of the docking body 12 with GPS         data wirelessly received from the UUV 15;     -   2. based on this comparison the processor 30 instructs the         actuator assembly to remotely control actuation of the         propulsion means 16 to locate or navigate the docking assembly         10 into proximity with the UUV 15;     -   3. the processor 30 receives vision data of the UUV 15 from         optical sensors such as 20 a of the docking body 12;     -   4. based on this vision data, the processor 30 instructs the         actuator assembly to remotely control actuation of the         propulsion means 16 for alignment of the UUV 15 for docking with         the docking assembly 10.

It is to be understood that the actuator assembly at the surface vessel 13 remotely controls the pivoting fins such as 28 a and their associated thrusters such as 26 a in concert for guided docking of the UUV 15 with the docking assembly 10.

As best seen in FIGS. 8 and 9 , the suction means 14 and its suction impeller 24 reduce pressure within the docking cavity 22 of the towable body 12 to promote docking of the UUV 15 with the docking assembly 10. The suction impeller 24 of this example is operatively coupled to a docking cable (not shown) associated with the cable 18 for remote actuation of the impeller suction 24. The actuator assembly remotely actuates with the suction means 14 or suction impeller 24 via the docking cable.

FIG. 10 illustrates the UUV15 having been docked with the docking assembly 10 and subsequently retrieved or “landed” at the surface or other recovery vessel 13 via the cable 18. In this example the surface vessel 13 includes a winch assembly 33 about which the cable 18 is spooled for retrieval or release of the docking assembly 10. The surface vessel 13 and winch assembly 33 are of similar construction to the applicant's “Unmanned Marine Sailing Vessel” disclosed in their International patent publication no. WO2017/210727. The contents of this International or PCT patent application are to be considered disclosed herein by way of this reference.

It is to be understood that the docking assembly 10 enables effective docking of retrieval of a UUV such as 15 even in rough weather conditions. This is achieved by guided docking of the UUV 15 at relatively calm depths away from wave and current movement at or adjacent the surface. Once the UUV 15 is docked with the docking assembly 10 at depth it can be retrieved or recovered at the surface via the cable 18. If required this may involve recovery onto a surface recovery vessel in the form of a large ship 13 which at the surface mry be experiencing particularly rough wave and wind conditions.

FIGS. 11 to 17 illustrate a waterborne docking assembly 100 of a second embodiment of the invention. For ease of reference and in order to avoid repetition, like components of this embodiment have been designed with an additional “0” for the same components of the previous or first embodiment. For example, the docking body of this second embodiment has been designated as 120.

This second embodiment of the docking assembly 100 is in essence the same as the docking assembly of the first embodiment with the exception of the docking means. In this second embodiment, the docking means includes a plurality of rigid clasps such as 102 a to 102 d together resembling an olive or pickle grabber. The clasps such as 102 a are connected to and extend from the docking body 120 for releasable clasping of the UUV such 150 for docking with the docking assembly 100. In this example, the rigid clasps such as 102 a are each articulated and slidably connected to the docking body 120 for clasping of the UUV 150 and sliding movement of the UUV 150 into close proximity with the docking body 120. The articulated clasps such as 102 a are together movable from (a) an open configuration permitting movement of the docking body 120 into close proximity with the UUV 150 (see FIG. 14 ) and (b) a closed configuration for clasped retention of the UUV 150 for docking with the docking assembly 100 (see FIGS. 15 and 16 ).

It is to be understood that the plurality of clasps such as 102 a of this second embodiment may complement or replace the suction means 14 of the first embodiment. In either case the impeller 240 mounted within the docking body 120 forms part of the propulsion means 160 in controlling relative positioning of the docking body 120 for guided docking of the UUV 150 with the docking assembly 100. The impeller 240 operating in this propulsion mode thus functions as a thruster providing either forward or reverse motion for the docking body 120.

FIGS. 18 to 24 depict a waterborne docking assembly 1000 of a third embodiment of the invention. This third embodiment represents a development on the second embodiment where the plurality of rigid clasps are replaced with a combination of one or more tentacles 104 a and 104 b and a plurality of resiliently flexible arms 106 a to 106 d. For ease of reference and in order to avoid repetition, like components of this third embodiment have been designated with an additional “00” for the same components of the first embodiment. For example, the docking body of this third embodiment has been designated as 1200.

The tentacles such as 1004 a of this third embodiment are operatively coupled to the docking body 1200 for releasable gripping of the UUV 1500 in proximity with the docking body 1200 (see FIG. 22 ). This configuration of the docking means lends itself to grabbing of a “dead” UUV 1500 which may otherwise be difficult to retrieve. The plurality of resiliently flexible arms such as 1006 a are connected to and extend from the docking body 1200. These flexible arms such as 1006 a are arranged for retention of the UUV 1500 for docking with the docking assembly 1000. The tentacles 1004 a and resilient arms 1006 a generally resemble the tentacles and arms of a squid and are remotely controlled for grabbing and docking of the UUV 1500 in a similar manner to soft robotics technology. The tentacles 1004 a and resilient arms 1006 a are operatively coupled to a docking cable (not shown) associated with the cable 1800 for remote control from the surface or other recovery vessel 1300.

Now that several preferred embodiments of the invention have been described it will be understood that the waterborne docking assembly has at least the following advantages:

-   -   1. the docking assembly enables effective retrieval of an         underwater unmanned vehicle (UUV) particularly in rough seas and         other environmental conditions which would otherwise make this         near impossible;     -   2. the docking assembly is effective in operation providing         intelligent communication between the docking body and recovery         vessel via sensors located at the docking body;     -   3. the docking assembly lends itself to effective retrieval or         landing of the docked UUV at the recovery vessel via the         associated towline;     -   4. the docking assembly includes propulsion means which enables         positioning or maneuvering relative to the UUV for relatively         accurate and guided autonomous docking of the UUV with the         docking assembly.

Those skilled in the art will appreciate that the invention described herein is susceptible to variations and modifications other than those specifically described. The recovery vessel may wirelessly communicate with the docking body and its associated components including sensors associated with the docking body. The docked UUV may be retrieved or landed upon the deck of the recovery vessel via a winch or other appropriate retrieval systems. The recovery vessel described may be replaced with a sub-surface vessel such as a submarine and remain within the scope of the present. invention. The docking assembly may at least in part be powered via a power source such as batteries located at the docking body rather than location of the power source at the recovery vessel. This alternative arrangement avoids voltage and power loss associated with remote powering of the docking assembly.

All such variations and modifications are to be considered within the ambit of the present invention the nature of which is to be determined from the foregoing description. 

1. (canceled)
 2. A waterborne docking assembly comprising: a docking body adapted to be deployed from a recovery vessel; docking means associated with the docking body and adapted for docking of an unmanned underwater vehicle; propulsion means associated with the docking body, said propulsion means configured to control positioning of the docking body relative to the unmanned underwater vehicle for guided docking of said vehicle with the docking assembly.
 3. A waterborne docking assembly as claimed in claim 2 also comprising a cable connected at opposing ends to the docking body and the recovery vessel, respectively, said cable including or being associated with a towline arranged for towing of the docking body from the recovery vessel, said towline configured to (a) combine with the propulsion means to control positioning of the docking body, and (b) assist with retrieval of the docking body and the docked unmanned underwater vehicle to the recovery vessel.
 4. A waterborne docking assembly as claimed in claim 3 wherein the cable includes a communications cable operatively coupled to one or more sensors associated with the docking body for communicating sensor data from said sensor to the recovery vessel.
 5. A waterborne docking assembly as claimed in claim 4 wherein the cable also includes an actuator cable operatively coupled to actuators of or associated with the propulsion means for remote control of the position of the docking body for guided docking of the unmanned underwater vehicle from the recovery vessel.
 6. A waterborne docking assembly as claimed in claim 5 wherein the cable includes a docking cable operatively coupled to the docking means for remote docking of the unmanned underwater vehicle with the docking assembly.
 7. A waterborne docking assembly as claimed in claim 3 wherein the cable includes a power cable operatively coupled to the docking means and/or the propulsion means for powering them.
 8. A waterborne docking assembly as claimed in claim 2 wherein the docking means includes suction means associated with a docking cavity formed within the docking body, the docking cavity shaped substantially complementary to at least part of an external surface of the unmanned underwater vehicle.
 9. A waterborne docking assembly as claimed in claim 8 wherein the suction means includes a suction impeller arranged to reduce pressure and/or create water flow within the docking cavity to promote docking of the unmanned underwater vehicle with the docking assembly.
 10. A waterborne docking assembly as claimed in claim 2 wherein the docking means in a second embodiment includes a plurality of rigid clasps connected to an extending from the docking body for releasable clasping of the unmanned underwater vehicle for docking with the docking assembly.
 11. A waterborne docking assembly as claimed in claim 10 wherein the rigid clasps are each articulated and slidably connected to the docking body, said clasps being movable from (a) an open configuration permitting movement of the docking body into close proximity with the unmanned underwater vehicle, and (b) a closed configuration for clasped retention of said vehicle for docking with the docking assembly.
 12. A waterborne docking assembly as claimed in claim 2 wherein the docking means includes one or more tentacles operatively coupled to the docking body for releasable gripping of the unmanned underwater vehicle in proximity with the docking body for docking with the docking assembly.
 13. A waterborne docking assembly as claimed in claim 12 wherein the docking means also includes a plurality of resiliently flexible arms connected to and extending from the docking body, said arms arranged for retention of the unmanned underwater vehicle for docking with the docking assembly.
 14. A waterborne docking assembly as claimed in claim 2 wherein the propulsion means includes one or more thrusters associated with respective of one or more fins mounted to the docking body.
 15. A waterborne docking assembly as claimed in claim 14 wherein the fins are each pivotally mounted to the docking body whereby tilting of selective of the fins is effective in relative positioning of the docking body to assist with guided docking of the unmanned underwater vehicle with the docking assembly.
 16. A waterborne docking assembly as claimed in claim 6 further comprising a processor located at the recovery vessel and configured to communicate with said one or more sensors via the communications cable to facilitate guided docking of the unmanned underwater vehicle with the docking assembly.
 17. A waterborne docking assembly as claimed in claim 16 also comprising an actuator assembly located at the recovery vessel and operatively coupled to the propulsion means via the actuator cable, the processor configured to communicate with the actuator assembly to remotely control actuation of the propulsion means dependent on the sensor data received from the docking body for guided docking of the unmanned underwater vehicle.
 18. A waterborne docking assembly as claimed in claim 16 wherein the processor is also arranged to communicate with the actuator assembly to remotely control actuation of the docking means via the docking cable for docking of the unmanned underwater vehicle with the docking assembly.
 19. A waterborne docking assembly as claimed in claim 4 wherein said one or more sensors associated with the docking body include but are not limited to optical, sonar, pressure, depth, piezoelectric, and Global Position System (GPS) sensors.
 20. A waterborne docking assembly as claimed in claim 19 wherein the optical sensors are at least in part mounted at an aft section of the docking body and configured to capture vision of the unmanned underwater vehicle as it approaches the docking body to assist with guided docking of said vehicle. 